CN109606385B - Vehicle control method, device, equipment and medium based on automatic driving - Google Patents
Vehicle control method, device, equipment and medium based on automatic driving Download PDFInfo
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- CN109606385B CN109606385B CN201811479512.5A CN201811479512A CN109606385B CN 109606385 B CN109606385 B CN 109606385B CN 201811479512 A CN201811479512 A CN 201811479512A CN 109606385 B CN109606385 B CN 109606385B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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Abstract
The embodiment of the invention discloses a vehicle control method, a vehicle control device, vehicle control equipment and a vehicle control medium based on automatic driving. The method comprises the following steps: when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt; determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver; and in the automatic driving degradation mode, controlling the vehicle to run by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system according to the control abnormity. The technical scheme of the embodiment of the invention solves the problems that when the automatic driving vehicle exits from automatic driving, the vehicle can directly stop running, and the driver completely does not participate in vehicle control to safely control the vehicle, and the transition is lacked in the middle, so that when the driving level of the unmanned vehicle needs to be backed, the backing with moderate degradation is carried out under the possible condition, the burden of the driver is reduced, and the effect of keeping the safety is facilitated.
Description
Technical Field
The embodiment of the invention relates to a vehicle driving control technology, in particular to a vehicle control method, a vehicle control device, vehicle control equipment and a vehicle control medium based on automatic driving.
Background
In recent years, the technology of automatic driving is rapidly developed, and unmanned automobiles have been gradually brought into the lives of people.
Existing unmanned vehicles also remain manually drivable, i.e., allow the vehicle to switch between autonomous and manual modes, in order to accommodate complex road traffic conditions. Generally, when a vehicle fails or a failure of a key component is detected, for example, at night, in a dark environment, in an equipment failure, etc., an automatic driving level may be backed off, and the driving right is returned to the driver, so that the manual driving mode is switched.
However, in the course of the research conducted in the present invention, it was found that the vehicle may be stopped directly if the automatic driving mode is exited. The driver is not involved in the vehicle control at all to control the vehicle completely, and the transition is lacked in the middle, so that the burden of the driver is obviously increased, and the safety is not favorable for maintaining.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device, vehicle control equipment and a vehicle control medium based on automatic driving, so that the process of switching an automatic driving vehicle between different control modes is optimized, and the safety of vehicle control is improved.
In a first aspect, an embodiment of the present invention provides an automatic driving-based vehicle control method, including:
when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt;
determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver;
and in the automatic driving degradation mode, controlling the vehicle to run by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system according to the control abnormity.
In a second aspect, an embodiment of the present invention further provides an automatic driving-based vehicle control apparatus, including:
the prompting module is used for carrying out manual intervention prompting when the control abnormity is identified according to the current vehicle state;
the mode determining module is used for determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver;
and the control module is used for controlling the running of the vehicle according to the control abnormity in an automatic driving degradation mode by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the autopilot-based vehicle control method of any of the embodiments of the invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the automatic driving-based vehicle control method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, when the control abnormity is identified, manual intervention prompt is carried out, the automatic driving degradation mode of the vehicle is determined according to the input behavior of the driver, and then in the automatic driving degradation mode, according to the control abnormity, the vehicle driving is controlled by combining the manual control instruction input by the driver and the automatic control instruction generated by the automatic driving system, so that the problems that the vehicle can be directly stopped when the automatic driving vehicle exits from the automatic driving, and the driver is not involved in the vehicle control to safely control the vehicle at all, and the transition is absent in the middle are solved, when the driving level of the unmanned vehicle needs to be backed, the backing of moderate degradation is carried out under the condition possible condition (evaluating a fault device, the surrounding environment and the like), the burden of the driver is reduced, and the effect of maintaining the safety is facilitated.
Drawings
FIG. 1 is a flow chart of a method for controlling an autonomous-based vehicle according to a first embodiment of the present invention;
FIG. 2 is a flowchart of an autopilot-based vehicle control method provided in a second embodiment of the invention;
FIG. 3 is a flowchart of a method for controlling an autonomous-based vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving-based vehicle control apparatus provided in a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device provided in the fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a vehicle control method based on automatic driving according to an embodiment of the present invention, which is suitable for controlling a situation of automatic driving level rollback in an abnormal state during automatic driving of a vehicle. As shown in fig. 1, the method of this embodiment specifically includes:
and S110, when the control abnormity is identified according to the current vehicle state, carrying out manual intervention prompt.
The automatic driving vehicle plans a collision-free safe motion track which is feasible in space and controllable in time under the condition of meeting the constraint conditions of vehicle kinematics and dynamics according to the requirements of current vehicle behaviors (turning, climbing, meeting, accelerating or decelerating and the like), and then designs a proper control rule and tracks and generates a target track, thereby realizing the autonomous driving.
The control abnormality that may be recognized based on the current vehicle state includes at least one of: critical sensor failures, communication disruptions, abnormal sensing results, and out of range of operational design field capabilities.
The key sensors can comprise sensors such as a remote sensor, a speed sensor and a laser radar, and can be specifically set according to different vehicle hardware configuration conditions. If the key sensor fails, the key information of the vehicle in the automatic control process cannot be obtained, and serious consequences such as accidents may occur. Further, the automatic driving of the vehicle relies on the communication system as a bridge between the control terminal and the vehicle, and between the vehicle sensors and the control device, and forms a path planning or control instruction for the vehicle through a large amount of data exchange, and once the communication is interrupted, the automatic driving vehicle may be in an out-of-control state. The abnormal sensing result can cause that the control system of the automatic driving can not correctly judge the state of the vehicle, and further make a correct decision, for example, the photographed image is not clear, so that the recognition can not be realized. When the vehicle exceeds the Operational Design Domain (ODD), the sensing information obtained by the vehicle is considered as unreliable information and cannot be used as a basis for decision making of a control system, or the vehicle judges that the driving behavior of the vehicle driven automatically cannot be matched with the actual scene according to the obtained sensing information, namely the vehicle exceeds the capability of the vehicle capable of being controlled automatically, and the vehicle is considered to exceed the ODD range. It will be appreciated by those skilled in the art that other types of control anomalies, in addition to those described above, may be included and may be set according to the requirements for vehicle autonomous driving control.
Once one of the above control abnormal conditions is identified, the control system of the vehicle performs manual intervention prompt through a human-computer interaction interface, and the prompt mode can include at least one of voice, light and playing images to perform control abnormal and prompt for requesting manual driving.
Further, after the prompt of manual intervention is performed, the method further includes: and if the input behavior of the driver is not detected after the set time, the set distance or the set times of reminding, exiting the automatic driving system or stopping at a safe area.
In a preferred embodiment, when a control anomaly is detected based on the current vehicle state, at least one of the following measures is taken:
performing deceleration control on the vehicle; or performing degraded operation or stopping operation on an automatic sensing function or an automatic control function related to the control abnormity; or, controlling the vehicle to move to a safe area; or sending a driving abnormity prompt to the surrounding environment.
And S120, determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver.
The automatic driving mode may be a mode in which automatic control is performed entirely by the vehicle, i.e., a unmanned driving mode. The autopilot degradation mode, i.e., a mode that can combine automatic control commands and manual control commands, reduces the ability to automatically control.
Specifically, determining the vehicle automatic driving degradation mode according to the input behavior of the driver includes:
if an action of a driver input to at least one of a throttle, a brake, a steering wheel, a hand brake, and a set button is monitored, it is determined that the input behavior of the driver is recognized. Thereby determining that the vehicle entered the autonomous driving derating mode.
And S130, in the automatic driving degradation mode, controlling the vehicle to run by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system according to the control abnormity.
In the automatic driving degradation mode, when the control abnormality is the sensing function abnormality, the abnormal sensing function is shielded, and an automatic control instruction is generated according to the sensing result of the residual sensing function. Wherein the perceptual dysfunction comprises: an abnormality caused by any one of a critical sensor malfunction, a communication interruption, and an abnormality in sensing result. Such as a critical sensor failure not being aware of the critical information upon which the control commands are generated.
For example, in the running process of the automatic driving system, a certain key sensor fault, such as a remote sensor fault, is found, at this time, the automatic driving mode is not directly exited, the vehicle control right is completely given to a driver, the vehicle speed can be reduced, and the fault type and the attention of the driver are prompted; the driver can choose to continue the automatic driving under the speed limit or take over the driving, after the driver takes over the driving, the driver keeps the distance with the front vehicle in a visual mode when driving at high speed, and the automatic driving system has other functions such as short-distance collision prevention and lane departure early warning and still works normally except for the function isolation related to the remote sensor.
In some cases, if the manual control instruction conflicts with the automatic control instruction and meets the emergency treatment condition, the automatic control instruction is executed, otherwise, the manual control instruction is executed. The emergency handling condition is that the vehicle is in collision danger, and the automatic control instruction is a brake emergency stop instruction or a steering instruction.
According to the technical scheme of the embodiment, when the control abnormity is identified, the manual intervention prompt is carried out, the automatic driving degradation mode of the vehicle is determined according to the input behavior of the driver, and then in the automatic driving degradation mode, according to the control abnormity, the vehicle driving is controlled by combining the manual control instruction input by the driver and the automatic control instruction generated by the automatic driving system, so that the problems that the vehicle can be directly stopped when the automatic driving vehicle exits from the automatic driving, and the driver is completely not involved in the vehicle control to safely control the vehicle, and the transition is absent in the middle are solved, when the driving level of the unmanned vehicle needs to be backed, the backing of moderate degradation is carried out under the condition possible condition (evaluating a faulty device, the surrounding environment and the like), the burden of the driver is reduced, and the effect of maintaining the safety is facilitated.
Example two
Fig. 2 shows a flowchart of a vehicle control method based on automatic driving according to a second embodiment of the present invention, which is further optimized for various optional implementations in the above or following embodiments. As shown in fig. 2, the vehicle control method based on the automatic driving specifically includes:
and S210, when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt.
And S220, determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver.
And S230, in the automatic driving degradation mode, if the control abnormity is beyond the capability range of the operation design field, determining an untrusted control function which is beyond the capability range of the operation design field and a trusted control function which is not beyond the capability range of the operation design field.
The operation design field is to determine the operation range determined by design according to the performance and the use mode of the automatic driving automobile, and reasonably foresee and prevent personal accidents caused by the automatic driving automobile. The operation design field includes road conditions (freeways, ordinary roads, number of lanes, etc.), geographical conditions (cities, mountainous areas, etc.), environmental conditions (weather conditions, nighttime, etc.), and other conditions (speed limit, operation on a particular road, presence or absence of a vehicle by a security person, etc.).
Illustratively, beyond the operational design field capability range, an unrecognizable valid road sign; the trusted control function is a vehicle speed control function, and the untrusted control function is a steering control function; or
The effective speed limit signs which are beyond the capability range of the operation design field are unidentifiable effective speed limit signs; the trusted control function is a steering control function and the untrusted control function is a vehicle speed control function.
And S240, executing vehicle running control corresponding to the unreliable control function according to the manual control command input by the driver.
Specifically, executing the vehicle running control corresponding to the untrusted control function according to the manual control instruction input by the driver includes: prompting a driver to input sensing data corresponding to the unreliable control function; and generating an automatic control instruction according to the sensing data input by the driver so as to control the running of the vehicle. If the function of the unreliable control is the function of controlling the vehicle speed, the driver controls the accelerator or the brake to control the running speed of the vehicle.
And S250, executing vehicle running control corresponding to the credible control function according to the automatic control instruction generated by the automatic driving system.
In the automatic driving control, the trusted control function other than the untrusted control function can be continuously used, and the vehicle running control corresponding to the trusted control function is automatically executed.
The technical scheme of the embodiment is further optimized on the basis of the above embodiment, when the control abnormity is identified, the manual intervention prompt is carried out, the automatic driving degradation mode of the vehicle is determined according to the input behavior of the driver, when the control abnormity exceeds the capability range of the operation design field, the unreliable control function which exceeds the capability range of the operation design field and the reliable control function which does not exceed the capability range of the operation design field are determined, the vehicle driving control corresponding to the unreliable control function is executed according to the manual control instruction input by the driver, the vehicle driving control corresponding to the reliable control function is executed according to the automatic control instruction generated by the automatic driving system, and the vehicle driving is controlled. The problem that when the automatic driving vehicle exits automatic driving, the vehicle can be directly stopped, and the driver completely does not participate in vehicle control to safely control the vehicle, and the transition is lacked in the middle is solved, so that when the driving level of the unmanned vehicle needs to be backed, the driver can carry out backing with moderate degradation under the possible condition (evaluating a device with a fault, the surrounding environment and the like), the burden of the driver is reduced, and the effect of keeping safety is facilitated.
Typical scenarios based on the above technical solutions include, for example:
during the autopilot process, if the autopilot system detects that the ODD is out of range, such as an unstructured road, lane markings are not obvious, at this time the autopilot system may request the driver to be responsible for lane recognition and maintenance, i.e., the driver controls the steering wheel, or a prompt is given on the vehicle display screen to confirm the lane position, which is input by the driver based on visual conditions to confirm the lane position. The remaining driving functions are still performed by the autopilot system.
In the automatic driving process, if the speed limit sign cannot be correctly identified due to unclear or shielded speed limit sign, the automatic driving system can require a driver to confirm the speed limit, for example, several speed limit choices can be provided according to scenes and maps, and the automatic driving system can normally work after the driver manually inputs confirmation.
EXAMPLE III
Fig. 3 shows a flowchart of a vehicle control method based on automatic driving according to a third embodiment of the present invention, which is further optimized for various optional implementations in the foregoing or following embodiments. As shown in fig. 3, the vehicle control method based on the automatic driving specifically includes:
and S310, when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt.
And S320, if the control abnormality is that the automatic driving behavior is not matched with the scene, controlling the driving of the vehicle according to a manual control instruction input by a driver.
For example, the case where the automatic driving behavior does not match the scene includes at least one of: parking beside or suddenly stopping in a highway scene; when the vehicle communication is interrupted, the vehicle needs to stop by the side or suddenly stop; when peripheral obstacles are dense, the vehicle needs to stop by side or suddenly stop.
In the above scenario, if the control command for automatic driving is still executed and the vehicle is parked or suddenly stopped at the side, an accident may occur, and at this time, a corresponding driving behavior needs to be implemented according to the control command input by the driver. It is to be understood that the above-described scenario is not limited to highways, but may also be, for example, overpasses, streets in a dense environment, or the like.
According to the technical scheme of the embodiment, the technical scheme of the embodiment is further supplemented, when the control abnormality is identified, the manual intervention prompt is carried out, if the control abnormality is that the automatic driving behavior is not matched with the scene, the vehicle driving is controlled according to the manual control instruction input by the driver, the problems that the vehicle may directly stop running when the automatic driving vehicle exits from the automatic driving, and the driver is not involved in the vehicle control to safely control the vehicle at all, and transition is absent in the middle are solved, so that when the driving level of the unmanned vehicle needs to be backed, the backing-back with moderate degradation is carried out under the condition possibility (evaluation of a faulty device, the surrounding environment and the like), the burden of the driver is reduced, and the effect of keeping the safety is facilitated.
Example four
Fig. 4 is a structural diagram of a vehicle control device based on automatic driving according to a fourth embodiment of the present invention, which is suitable for a case where the automatic driving level is returned when the automatic driving of the automatic driving vehicle is abnormal. The apparatus of the present embodiment may be implemented by hardware and/or software, and may be generally integrated in an on-vehicle automatic driving control device or a computer device.
As shown in fig. 4, the automatic driving-based vehicle control device includes: a prompt module 410, a mode determination module 420, and a control module 430.
The prompting module 410 is used for performing manual intervention prompting when control abnormality is identified according to the current vehicle state; the mode determining module 420 is used for determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver; and the control module 430 is used for controlling the vehicle to run in an automatic driving degradation mode according to the control abnormity by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system.
According to the technical scheme of the embodiment, when the control abnormity is identified, the manual intervention prompt is carried out, the automatic driving degradation mode of the vehicle is determined according to the input behavior of the driver, and then in the automatic driving degradation mode, according to the control abnormity, the vehicle driving is controlled by combining the manual control instruction input by the driver and the automatic control instruction generated by the automatic driving system, so that the problems that the vehicle can be directly stopped when the automatic driving vehicle exits from the automatic driving, and the driver is completely not involved in the vehicle control to safely control the vehicle, and the transition is absent in the middle are solved, when the driving level of the unmanned vehicle needs to be backed, the backing of moderate degradation is carried out under the condition possible condition (evaluating a faulty device, the surrounding environment and the like), the burden of the driver is reduced, and the effect of maintaining the safety is facilitated.
Optionally, the prompting of manual intervention includes:
and prompting for controlling abnormity and requesting manual driving by adopting at least one mode of voice, light and playing images.
The automatic driving-based vehicle control device further comprises an abnormality control module, wherein the abnormality control module is used for taking at least one measure of performing deceleration control on the vehicle, performing degraded operation or stop operation on an automatic perception function or an automatic control function related to the control abnormality, controlling the vehicle to move to a safety area and sending driving abnormality prompt to the surrounding environment when the control abnormality is identified according to the current vehicle state.
Optionally, the control exception comprises at least one of: critical sensor failures, communication disruptions, abnormal sensing results, and out of range of operational design field capabilities.
The control module 430 is specifically configured to:
in an automatic driving degradation mode, if the control abnormality is the sensing function abnormality, shielding the abnormal sensing function, and generating an automatic control instruction according to the sensing result of the rest sensing functions;
and if the manual control instruction conflicts with the automatic control instruction and meets the emergency treatment condition, executing the automatic control instruction, otherwise executing the manual control instruction.
Optionally, the perceptual dysfunction includes: an abnormality caused by any one of a critical sensor malfunction, a communication interruption, and an abnormality in sensing result.
Optionally, the emergency handling condition is a collision risk of the vehicle, and the automatic control instruction is a brake emergency stop instruction or a steering instruction.
The control module 430 is specifically configured to:
in the automatic driving degradation mode, if the control abnormity is beyond the capability range of the operation design field, determining an untrusted control function which is beyond the capability range of the operation design field and an untrusted control function which is not beyond the capability range of the operation design field;
executing vehicle running control corresponding to the untrusted control function according to a manual control instruction input by a driver;
and executing vehicle running control corresponding to the credible control function according to an automatic control instruction generated by the automatic driving system.
Optionally, the capacity range beyond the operation design field is an unrecognizable effective road sign; the trusted control function is a vehicle speed control function, and the untrusted control function is a steering control function; or
The capacity range exceeding the operation design field is an unidentifiable effective speed limit sign; the trusted control function is a steering control function and the untrusted control function is a vehicle speed control function.
Optionally, executing the vehicle running control corresponding to the untrusted control function according to a manual control instruction input by the driver includes:
prompting a driver to input sensing data corresponding to the unreliable control function;
and generating an automatic control instruction according to the sensing data input by the driver so as to control the running of the vehicle.
The control module 430 is further configured to: and if the control abnormality is that the automatic driving behavior is not matched with the scene, controlling the driving of the vehicle according to a manual control instruction input by a driver.
Optionally, the mismatch of the automatic driving behavior and the scene includes at least one of:
parking beside or suddenly stopping in a highway scene; when the vehicle communication is interrupted, the vehicle needs to stop by the side or suddenly stop; when peripheral obstacles are dense, the vehicle needs to stop by side or suddenly stop.
The vehicle control device based on automatic driving provided by the embodiment of the invention can execute the vehicle control method based on automatic driving provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer device in the fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 512 suitable for use in implementing embodiments of the present invention. The computer device 512 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 5, computer device 512 is in the form of a general purpose computing device. Components of computer device 512 may include, but are not limited to: one or more processors or processing units 516, a system memory 528, and a bus 518 that couples the various system components including the system memory 528 and the processing unit 516.
The system memory 528 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)530 and/or cache memory 532. The computer device 512 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 534 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 518 through one or more data media interfaces. Memory 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 540 having a set (at least one) of program modules 542, including but not limited to an operating system, one or more application programs, other program modules, and program data, may be stored in, for example, the memory 528, each of which examples or some combination may include an implementation of a network environment. The program modules 542 generally perform the functions and/or methods of the described embodiments of the invention.
The computer device 512 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, display 524, etc.), with one or more devices that enable a user to interact with the computer device 512, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 512 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 522. Also, computer device 512 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 520. As shown, the network adapter 520 communicates with the other modules of the computer device 512 via the bus 518. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with computer device 512, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 516 executes various functional applications and data processing by running programs stored in the system memory 528, for example, implementing an automatic driving-based vehicle control method provided by an embodiment of the present invention, the method mainly includes:
when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt;
determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver;
and in the automatic driving degradation mode, controlling the vehicle to run by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system according to the control abnormity.
EXAMPLE six
The sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an automatic driving-based vehicle control method according to the sixth embodiment of the present invention, where the method mainly includes:
when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt;
determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver;
and in the automatic driving degradation mode, controlling the vehicle to run by combining a manual control instruction input by a driver and an automatic control instruction generated by an automatic driving system according to the control abnormity.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. An automatic driving-based vehicle control method, characterized by comprising:
when the control abnormality is identified according to the current vehicle state, carrying out manual intervention prompt;
determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver;
in an automatic driving degradation mode, if the control abnormality is the sensing function abnormality, shielding the abnormal sensing function, and generating an automatic control instruction according to the sensing result of the rest sensing functions; if the manual control instruction conflicts with the automatic control instruction and meets an emergency handling condition, executing the automatic control instruction, otherwise, executing the manual control instruction, wherein the emergency handling condition is that the vehicle is in danger of collision, and the automatic control instruction is a brake emergency stop instruction or a steering instruction; alternatively, the first and second electrodes may be,
and if the control abnormality is that the automatic driving behavior is not matched with the scene, controlling the driving of the vehicle according to a manual control instruction input by a driver.
2. The method of claim 1, wherein prompting for manual intervention comprises:
and prompting for controlling abnormity and requesting manual driving by adopting at least one mode of voice, light and playing images.
3. The method of claim 1, when a control anomaly is identified based on a current vehicle state, further comprising at least one of:
performing deceleration control on the vehicle;
performing degraded operation or stopping operation on an automatic perception function or an automatic control function associated with the control abnormality;
controlling the vehicle to move to a safe area;
and sending a driving abnormity prompt to the surrounding environment.
4. The method of any of claims 1-3, wherein the control exception comprises at least one of: critical sensor failures, communication disruptions, abnormal sensing results, and out of range of operational design field capabilities.
5. The method of claim 1, wherein the perceptual dysfunction comprises: an abnormality caused by any one of a critical sensor malfunction, a communication interruption, and an abnormality in sensing result.
6. The method according to any one of claims 1-3, wherein controlling the vehicle to travel in the automatic driving degradation mode in accordance with the control abnormality in combination with a manual control command input by a driver and an automatic control command generated by an automatic driving system comprises:
in the automatic driving degradation mode, if the control abnormity is beyond the capability range of the operation design field, determining an untrusted control function which is beyond the capability range of the operation design field and an untrusted control function which is not beyond the capability range of the operation design field;
executing vehicle running control corresponding to the untrusted control function according to a manual control instruction input by a driver;
and executing vehicle running control corresponding to the credible control function according to an automatic control instruction generated by the automatic driving system.
7. The method of claim 6, wherein:
the capacity range exceeding the operation design field is an unrecognizable effective road mark; the trusted control function is a vehicle speed control function, and the untrusted control function is a steering control function; or
The capacity range exceeding the operation design field is an unidentifiable effective speed limit sign; the trusted control function is a steering control function and the untrusted control function is a vehicle speed control function.
8. The method according to claim 7, wherein executing the vehicle travel control corresponding to the untrusted control function according to the manual control command input by the driver comprises:
prompting a driver to input sensing data corresponding to the unreliable control function;
and generating an automatic control instruction according to the sensing data input by the driver so as to control the running of the vehicle.
9. The method of claim 1, wherein the automatic driving behavior not matching the scene comprises at least one of:
parking beside or suddenly stopping in a highway scene;
when the vehicle communication is interrupted, the vehicle needs to stop by the side or suddenly stop;
when peripheral obstacles are dense, the vehicle needs to stop by side or suddenly stop.
10. An automatic driving-based vehicle control apparatus, characterized by comprising:
the prompting module is used for carrying out manual intervention prompting when the control abnormity is identified according to the current vehicle state;
the mode determining module is used for determining an automatic driving degradation mode of the vehicle according to the input behavior of the driver;
the control module is used for shielding the abnormal sensing function and generating an automatic control instruction according to the sensing result of the rest sensing functions in the automatic driving degradation mode if the control abnormality is the sensing function abnormality; if the manual control instruction conflicts with the automatic control instruction and meets an emergency handling condition, executing the automatic control instruction, otherwise, executing the manual control instruction, wherein the emergency handling condition is that the vehicle is in danger of collision, and the automatic control instruction is a brake emergency stop instruction or a steering instruction; alternatively, the first and second electrodes may be,
and if the control abnormality is that the automatic driving behavior is not matched with the scene, controlling the driving of the vehicle according to a manual control instruction input by a driver.
11. A computer device, characterized in that the computer device comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the autopilot-based vehicle control method of any of claims 1-9.
12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the autopilot-based vehicle control method according to one of claims 1 to 9.
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